www.gusucode.com > control 案例程序 matlab源码代码 > control/Design2DOFPIDControllerExample.m
%% Design 2-DOF PID Controller % Design a 2-DOF PID Controller for the plant given by the transfer function: % % $$G\left(s\right) = {1 \over {{s^2} + 0.5s + 0.1}}.$$ % % Use a target bandwidth of 1.5 rad/s. wc = 1.5; G = tf(1,[1 0.5 0.1]); C2 = pidtune(G,'PID2',wc) %% % Using the type |'PID2'| causes |pidtune| to generate a % 2-DOF controller, represented as a |pid2| object. The display confirms % this result. The display also shows that |pidtune| tunes all controller % coefficients, including the setpoint weights |b| and |c|, to balance % performance and robustness.